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<h1>usb.c</h1><a href="usb_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">/** \file usb.c </span>
<a name="l00019"></a>00019 <span class="comment">  USB Subsystem.</span>
<a name="l00020"></a>00020 <span class="comment">  Functions for controlling the USB port on the Make Controller Board.</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022 
<a name="l00023"></a>00023 <span class="preprocessor">#include "config.h"</span>
<a name="l00024"></a>00024 <span class="preprocessor">#ifdef MAKE_CTRL_USB</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "usb.h"</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "rtos.h"</span>
<a name="l00028"></a>00028 <span class="preprocessor">#include "stdio.h"</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include "USB-CDC.h"</span>
<a name="l00030"></a>00030 <span class="preprocessor">#include "queue.h"</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "string.h"</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="comment">// SLIP codes</span>
<a name="l00034"></a>00034 <span class="preprocessor">#define END             0300    // indicates end of packet </span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#define ESC             0333    // indicates byte stuffing </span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define ESC_END         0334    // ESC ESC_END means END data byte </span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define ESC_ESC         0335    // ESC ESC_ESC means ESC data byte</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00039"></a>00039 <span class="keyword">extern</span> xQueueHandle xTxCDC; 
<a name="l00040"></a>00040 <span class="keyword">extern</span> xQueueHandle xRxCDC; 
<a name="l00041"></a>00041 
<a name="l00042"></a>00042 <span class="keyword">static</span> <span class="keywordtype">int</span> Usb_Users;
<a name="l00043"></a>00043 <span class="comment">// set by the running task when it gets started</span>
<a name="l00044"></a>00044 <span class="keywordtype">int</span> Usb_Running;
<a name="l00045"></a>00045 
<a name="l00046"></a>00046 <span class="preprocessor">#define mainUSB_PRIORITY      ( 4 )</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define mainUSB_TASK_STACK    ( 600 )</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#define TICKRATE 1000</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span>
<a name="l00050"></a>00050 <span class="keywordtype">void</span> vUSBCDCTask( <span class="keywordtype">void</span> *pvParameters );
<a name="l00051"></a>00051 <span class="keywordtype">int</span> TestAndSend(xBULKBUFFER *pq, <span class="keywordtype">char</span> newByte);
<a name="l00052"></a>00052 Usb_* Usb = NULL;
<a name="l00053"></a>00053 <span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment">/** \defgroup USB USB</span>
<a name="l00055"></a>00055 <span class="comment">  The USB subsystem provides access to USB Virtual Serial Port (CDC) functionality.  </span>
<a name="l00056"></a>00056 <span class="comment">  </span>
<a name="l00057"></a>00057 <span class="comment">  On OS X, the system USB CDC driver is used - no external drivers are needed.</span>
<a name="l00058"></a>00058 <span class="comment">  An entry in \b /dev is created - similar to &lt;b&gt;/dev/cu.usbmodem.xxxx&lt;/b&gt;.  It may be opened for reading and </span>
<a name="l00059"></a>00059 <span class="comment">  writing like a regular file using the standard POSIX open(), close(), read(), write() functions.</span>
<a name="l00060"></a>00060 <span class="comment">  </span>
<a name="l00061"></a>00061 <span class="comment">  On Windows, the first time the device is seen, it needs </span>
<a name="l00062"></a>00062 <span class="comment">  to be pointed to a .INF file containing additional information - the \b make_controller_kit.inf in </span>
<a name="l00063"></a>00063 <span class="comment">  the same directory as this file.  Once Windows sets this up, the device can be opened as a normal</span>
<a name="l00064"></a>00064 <span class="comment">  COM port.  See also the \b mchelper codebase for code snippets.</span>
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment">  \todo expand usb support to include emulation of other kinds of USB device - mouse, keyboard, etc.</span>
<a name="l00067"></a>00067 <span class="comment">* \ingroup Controller</span>
<a name="l00068"></a>00068 <span class="comment">* @{</span>
<a name="l00069"></a>00069 <span class="comment">*/</span>
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment">/**</span>
<a name="l00072"></a>00072 <span class="comment">  Sets whether the Usb subsystem is active.</span>
<a name="l00073"></a>00073 <span class="comment">  @param state An integer specifying the active state of the Usb system - 1 (on) or 0 (off).</span>
<a name="l00074"></a>00074 <span class="comment">  @return Zero on success.</span>
<a name="l00075"></a>00075 <span class="comment">*/</span>
<a name="l00076"></a><a class="code" href="group___u_s_b.html#g76d8f65ff3616d070254b5d1d045034c">00076</a> <span class="keywordtype">int</span> <a class="code" href="group___u_s_b.html#g76d8f65ff3616d070254b5d1d045034c" title="Sets whether the Usb subsystem is active.">Usb_SetActive</a>( <span class="keywordtype">int</span> state )
<a name="l00077"></a>00077 {
<a name="l00078"></a>00078   <span class="keywordflow">if</span> ( state )
<a name="l00079"></a>00079   {
<a name="l00080"></a>00080     <span class="keywordflow">if</span> ( Usb_Users++ == 0 )
<a name="l00081"></a>00081     {
<a name="l00082"></a>00082       <span class="comment">// Create the USB task.</span>
<a name="l00083"></a>00083       Usb = <a class="code" href="group___utils.html#g95923aa748602fa0330903fca05ca892" title="Same as Malloc, but keeps trying until it succeeds.">MallocWait</a>( <span class="keyword">sizeof</span>( Usb_ ), 100 );
<a name="l00084"></a>00084       <a class="code" href="group___tasks.html#g784f87fb45eebb76d07478036ed228d3" title="Create a new task.">TaskCreate</a>(  vUSBCDCTask, <span class="stringliteral">"USB"</span>, mainUSB_TASK_STACK, NULL, mainUSB_PRIORITY );
<a name="l00085"></a>00085 
<a name="l00086"></a>00086       <span class="keywordflow">while</span> ( !Usb_Running )
<a name="l00087"></a>00087         <a class="code" href="group___tasks.html#g9a64a7c0e24f257826103d1d1bbb44fa" title="Put a task to sleep for a given number of milliseconds.">Sleep</a>( 100 );
<a name="l00088"></a>00088     }
<a name="l00089"></a>00089   }
<a name="l00090"></a>00090   <span class="keywordflow">else</span>
<a name="l00091"></a>00091   {
<a name="l00092"></a>00092     <span class="keywordflow">if</span> ( Usb_Users )
<a name="l00093"></a>00093     {
<a name="l00094"></a>00094       <span class="keywordflow">if</span> ( --Usb_Users == 0 )
<a name="l00095"></a>00095       {
<a name="l00096"></a>00096         <span class="comment">/* kill the task, someday */</span>
<a name="l00097"></a>00097       }
<a name="l00098"></a>00098     }
<a name="l00099"></a>00099   }
<a name="l00100"></a>00100   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment">/**</span>
<a name="l00104"></a>00104 <span class="comment">  Read the active state of the Usb system.</span>
<a name="l00105"></a>00105 <span class="comment">  @return State - 1 (on) or 0 (off).</span>
<a name="l00106"></a>00106 <span class="comment">*/</span>
<a name="l00107"></a><a class="code" href="group___u_s_b.html#g86fb085b1eace675a46d72e58c98fa09">00107</a> <span class="keywordtype">int</span> <a class="code" href="group___u_s_b.html#g86fb085b1eace675a46d72e58c98fa09" title="Read the active state of the Usb system.">Usb_GetActive</a>( )
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109   <span class="keywordflow">return</span> Usb_Users &gt; 0;
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111 
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment">/** </span>
<a name="l00114"></a>00114 <span class="comment">  Read from the USB port.  </span>
<a name="l00115"></a>00115 <span class="comment">  Pass in a pointer to a char buffer to read into, and the number of characters requested to read.</span>
<a name="l00116"></a>00116 <span class="comment">  This function will return immediately with the number of characters read.</span>
<a name="l00117"></a>00117 <span class="comment">  @param buffer A pointer to a char buffer to read into</span>
<a name="l00118"></a>00118 <span class="comment">  @param length An integer specifying the number of characters to read</span>
<a name="l00119"></a>00119 <span class="comment">  @return The number of characters successfully read.</span>
<a name="l00120"></a>00120 <span class="comment">*/</span>
<a name="l00121"></a><a class="code" href="group___u_s_b.html#g9e8e6bd516232a4ccc90a95cce74d5d0">00121</a> <span class="keywordtype">int</span> <a class="code" href="group___u_s_b.html#g9e8e6bd516232a4ccc90a95cce74d5d0" title="Read from the USB port.">Usb_Read</a>(<span class="keywordtype">char</span> *buffer, <span class="keywordtype">int</span> length)
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123   <span class="keyword">static</span> xBULKBUFFER DeQueue;
<a name="l00124"></a>00124   <span class="keyword">static</span> <span class="keywordtype">int</span> queueRemaining = 0; <span class="comment">// whether or not there's anything left over from last time.</span>
<a name="l00125"></a>00125   <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *queuePtr = DeQueue.Data; <span class="comment">// pointer into our block buffer</span>
<a name="l00126"></a>00126   <span class="keywordtype">char</span> *bufferPtr = buffer; <span class="comment">// pointer into the buffer passed in</span>
<a name="l00127"></a>00127 
<a name="l00128"></a>00128   <span class="keywordflow">while</span>( bufferPtr - buffer &lt; length )
<a name="l00129"></a>00129   {
<a name="l00130"></a>00130     <span class="keywordflow">if</span>( queueRemaining ) <span class="comment">// first check if there's anything left from a previous read</span>
<a name="l00131"></a>00131     {
<a name="l00132"></a>00132       <span class="keywordflow">if</span>( queuePtr - DeQueue.Data &lt; DeQueue.Count )
<a name="l00133"></a>00133         *bufferPtr++ = *queuePtr++;
<a name="l00134"></a>00134       <span class="keywordflow">else</span> 
<a name="l00135"></a>00135         queueRemaining = 0;
<a name="l00136"></a>00136     }
<a name="l00137"></a>00137     <span class="keywordflow">else</span> <span class="comment">// nothing left to read, so grab more from the queue</span>
<a name="l00138"></a>00138     {
<a name="l00139"></a>00139       <span class="keywordflow">if</span> ( xQueueReceive( xRxCDC, &amp;DeQueue, 0 ) == pdTRUE  ) <span class="comment">// got a new message from USB waiting on the queue</span>
<a name="l00140"></a>00140       {
<a name="l00141"></a>00141         queueRemaining = 1;
<a name="l00142"></a>00142         queuePtr = DeQueue.Data;
<a name="l00143"></a>00143       }
<a name="l00144"></a>00144       <span class="keywordflow">else</span> <span class="comment">// nothing was available so we're done</span>
<a name="l00145"></a>00145         <span class="keywordflow">break</span>;
<a name="l00146"></a>00146     }
<a name="l00147"></a>00147   }
<a name="l00148"></a>00148   <span class="keywordflow">return</span> bufferPtr - buffer;
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment">/** </span>
<a name="l00152"></a>00152 <span class="comment">  Write to the USB port.</span>
<a name="l00153"></a>00153 <span class="comment">  Pass in a pointer to a char buffer to from, and the number of characters requested to write.</span>
<a name="l00154"></a>00154 <span class="comment">  @param buffer A pointer to a char buffer to write from</span>
<a name="l00155"></a>00155 <span class="comment">  @param length An integer specifying the number of characters to write</span>
<a name="l00156"></a>00156 <span class="comment">  @return The number of characters successfully written</span>
<a name="l00157"></a>00157 <span class="comment">*/</span>
<a name="l00158"></a><a class="code" href="group___u_s_b.html#g5e567d07fa00969777df67959d532ee5">00158</a> <span class="keywordtype">int</span> <a class="code" href="group___u_s_b.html#g5e567d07fa00969777df67959d532ee5" title="Write to the USB port.">Usb_Write</a>( <span class="keywordtype">char</span>* buffer, <span class="keywordtype">int</span> length )
<a name="l00159"></a>00159 {
<a name="l00160"></a>00160   <span class="keywordflow">if</span> ( !Usb_Users )
<a name="l00161"></a>00161     <a class="code" href="group___u_s_b.html#g76d8f65ff3616d070254b5d1d045034c" title="Sets whether the Usb subsystem is active.">Usb_SetActive</a>( 1 );
<a name="l00162"></a>00162 
<a name="l00163"></a>00163   xBULKBUFFER q;
<a name="l00164"></a>00164   q.Count = 0;
<a name="l00165"></a>00165   <span class="keywordtype">int</span> count = length;
<a name="l00166"></a>00166   <span class="keywordtype">char</span> *bp = buffer;
<a name="l00167"></a>00167 
<a name="l00168"></a>00168   <span class="keywordflow">while</span>( count-- )
<a name="l00169"></a>00169     TestAndSend( &amp;q, *bp++ );
<a name="l00170"></a>00170 
<a name="l00171"></a>00171   <span class="comment">// if bytes have been loaded into the buffer, but not sent because it's not full yet, send it now</span>
<a name="l00172"></a>00172   <span class="keywordflow">if</span>( q.Count ) 
<a name="l00173"></a>00173   {
<a name="l00174"></a>00174     <span class="keywordflow">while</span>(xQueueSend( xTxCDC, &amp;q, 0) != pdPASS)
<a name="l00175"></a>00175       <a class="code" href="group___tasks.html#g9a64a7c0e24f257826103d1d1bbb44fa" title="Put a task to sleep for a given number of milliseconds.">Sleep</a>( usbSHORTEST_DELAY );
<a name="l00176"></a>00176     q.Count = 0;
<a name="l00177"></a>00177   }
<a name="l00178"></a>00178   
<a name="l00179"></a>00179   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00180"></a>00180 }
<a name="l00181"></a>00181 <span class="comment"></span>
<a name="l00182"></a>00182 <span class="comment">/** </span>
<a name="l00183"></a>00183 <span class="comment">  Write to the USB port using SLIP codes to packetize messages.</span>
<a name="l00184"></a>00184 <span class="comment">  SLIP (Serial Line Internet Protocol) is a way to separate one "packet" from another on an open serial connection.</span>
<a name="l00185"></a>00185 <span class="comment">  This is the way OSC messages are sent over USB, for example.  SLIP uses a simple start/end byte and an escape</span>
<a name="l00186"></a>00186 <span class="comment">  byte in case your data actually contains the start/end byte.  Pass your normal buffer to this function to</span>
<a name="l00187"></a>00187 <span class="comment">  have the SLIP codes inserted and then write it out over USB.</span>
<a name="l00188"></a>00188 <span class="comment"></span>
<a name="l00189"></a>00189 <span class="comment">  Check the Wikipedia description of SLIP at http://en.wikipedia.org/wiki/Serial_Line_Internet_Protocol</span>
<a name="l00190"></a>00190 <span class="comment">  @param buffer A pointer to a char buffer to write from</span>
<a name="l00191"></a>00191 <span class="comment">  @param length An integer specifying the number of characters to write</span>
<a name="l00192"></a>00192 <span class="comment">  @return The number of characters successfully written</span>
<a name="l00193"></a>00193 <span class="comment">*/</span>
<a name="l00194"></a><a class="code" href="group___u_s_b.html#g83237266412f310be1779ff07110acdc">00194</a> <span class="keywordtype">int</span> <a class="code" href="group___u_s_b.html#g83237266412f310be1779ff07110acdc" title="Write to the USB port using SLIP codes to packetize messages.">Usb_SlipSend</a>( <span class="keywordtype">char</span>* buffer, <span class="keywordtype">int</span> length )
<a name="l00195"></a>00195 {
<a name="l00196"></a>00196   <span class="keywordflow">if</span>( length &gt; MAX_OUTGOING_SLIP_PACKET )
<a name="l00197"></a>00197     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g2cd3e8ce9b1d59bb5bf2972ab35a8b48" title="Not enough memory available.">CONTROLLER_ERROR_INSUFFICIENT_RESOURCES</a>;
<a name="l00198"></a>00198 
<a name="l00199"></a>00199   <span class="keywordtype">char</span> *obp = Usb-&gt;slipSendBuffer, *bp = buffer;
<a name="l00200"></a>00200   <span class="keywordtype">int</span> count = length;
<a name="l00201"></a>00201 
<a name="l00202"></a>00202   *obp++ = (char)END;
<a name="l00203"></a>00203 
<a name="l00204"></a>00204   <span class="keywordflow">while</span>( count-- )
<a name="l00205"></a>00205   {
<a name="l00206"></a>00206     <span class="keywordflow">switch</span>(*bp)
<a name="l00207"></a>00207     {
<a name="l00208"></a>00208       <span class="comment">// if it's the same code as an END character, we send a special </span>
<a name="l00209"></a>00209       <span class="comment">//two character code so as not to make the receiver think we sent an END</span>
<a name="l00210"></a>00210       <span class="keywordflow">case</span> END:
<a name="l00211"></a>00211         *obp++ = (char) ESC;
<a name="l00212"></a>00212         *obp++ = (char) ESC_END;
<a name="l00213"></a>00213         <span class="keywordflow">break</span>;
<a name="l00214"></a>00214         <span class="comment">// if it's the same code as an ESC character, we send a special </span>
<a name="l00215"></a>00215         <span class="comment">//two character code so as not to make the receiver think we sent an ESC</span>
<a name="l00216"></a>00216       <span class="keywordflow">case</span> ESC:
<a name="l00217"></a>00217         *obp++ = (char) ESC;
<a name="l00218"></a>00218         *obp++ = (char) ESC_ESC;
<a name="l00219"></a>00219         <span class="keywordflow">break</span>;
<a name="l00220"></a>00220         <span class="comment">//otherwise, just send the character</span>
<a name="l00221"></a>00221       <span class="keywordflow">default</span>:
<a name="l00222"></a>00222         *obp++ = *bp;
<a name="l00223"></a>00223     }
<a name="l00224"></a>00224     bp++;
<a name="l00225"></a>00225   }
<a name="l00226"></a>00226   
<a name="l00227"></a>00227   *obp++ = END; <span class="comment">// tell the receiver that we're done sending the packet</span>
<a name="l00228"></a>00228   <span class="keywordtype">int</span> sendLength = obp - Usb-&gt;slipSendBuffer;
<a name="l00229"></a>00229   <a class="code" href="group___u_s_b.html#g5e567d07fa00969777df67959d532ee5" title="Write to the USB port.">Usb_Write</a>( Usb-&gt;slipSendBuffer, sendLength );
<a name="l00230"></a>00230   
<a name="l00231"></a>00231   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00232"></a>00232 }
<a name="l00233"></a>00233 <span class="comment"></span>
<a name="l00234"></a>00234 <span class="comment">/** </span>
<a name="l00235"></a>00235 <span class="comment">  Read from the USB port using SLIP codes to de-packetize messages.</span>
<a name="l00236"></a>00236 <span class="comment">  SLIP (Serial Line Internet Protocol) is a way to separate one "packet" from another on an open serial connection.</span>
<a name="l00237"></a>00237 <span class="comment">  This is the way OSC messages are sent over USB, for example.  SLIP uses a simple start/end byte and an escape</span>
<a name="l00238"></a>00238 <span class="comment">  byte in case your data actually contains the start/end byte.  This function will block until it has received a </span>
<a name="l00239"></a>00239 <span class="comment">  complete SLIP encoded message, and will pass back the original message with the SLIP codes removed.</span>
<a name="l00240"></a>00240 <span class="comment"></span>
<a name="l00241"></a>00241 <span class="comment">  Check the Wikipedia description of SLIP at http://en.wikipedia.org/wiki/Serial_Line_Internet_Protocol</span>
<a name="l00242"></a>00242 <span class="comment">  @param buffer A pointer to a char buffer to read into</span>
<a name="l00243"></a>00243 <span class="comment">  @param length An integer specifying the number of characters to read</span>
<a name="l00244"></a>00244 <span class="comment">  @return The number of characters successfully written</span>
<a name="l00245"></a>00245 <span class="comment">*/</span>
<a name="l00246"></a><a class="code" href="group___u_s_b.html#g9e3c83ebc7acfceda064b76c94c96d2a">00246</a> <span class="keywordtype">int</span> <a class="code" href="group___u_s_b.html#g9e3c83ebc7acfceda064b76c94c96d2a" title="Read from the USB port using SLIP codes to de-packetize messages.">Usb_SlipReceive</a>( <span class="keywordtype">char</span>* buffer, <span class="keywordtype">int</span> length )
<a name="l00247"></a>00247 {
<a name="l00248"></a>00248   <span class="keywordflow">if</span>( length &gt; MAX_INCOMING_SLIP_PACKET )
<a name="l00249"></a>00249     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g2cd3e8ce9b1d59bb5bf2972ab35a8b48" title="Not enough memory available.">CONTROLLER_ERROR_INSUFFICIENT_RESOURCES</a>;
<a name="l00250"></a>00250 
<a name="l00251"></a>00251   <span class="keywordtype">int</span> started = 0, finished = 0, count = 0, i;
<a name="l00252"></a>00252   <span class="keywordtype">char</span> *pbp = Usb-&gt;slipReadBuffer;
<a name="l00253"></a>00253   <span class="keyword">static</span> <span class="keywordtype">int</span> bufRemaining = 0;
<a name="l00254"></a>00254   <span class="keywordtype">char</span> *bp = buffer;
<a name="l00255"></a>00255 
<a name="l00256"></a>00256   <span class="keywordflow">while</span> ( count &lt; length )
<a name="l00257"></a>00257   {
<a name="l00258"></a>00258     <span class="keywordflow">if</span>( !bufRemaining ) <span class="comment">// if there's nothing left over from last time, get more</span>
<a name="l00259"></a>00259     {
<a name="l00260"></a>00260       bufRemaining = <a class="code" href="group___u_s_b.html#g9e8e6bd516232a4ccc90a95cce74d5d0" title="Read from the USB port.">Usb_Read</a>( Usb-&gt;slipReadBuffer, MAX_INCOMING_SLIP_PACKET );
<a name="l00261"></a>00261       pbp = Usb-&gt;slipReadBuffer;
<a name="l00262"></a>00262     }
<a name="l00263"></a>00263 
<a name="l00264"></a>00264     <span class="keywordflow">for</span>( i = 0; i &lt; bufRemaining; i++ )
<a name="l00265"></a>00265     {
<a name="l00266"></a>00266       <span class="keywordflow">switch</span>( *pbp )
<a name="l00267"></a>00267       {
<a name="l00268"></a>00268         <span class="keywordflow">case</span> END:
<a name="l00269"></a>00269           <span class="keywordflow">if</span>( started &amp;&amp; count ) <span class="comment">// it was the END byte</span>
<a name="l00270"></a>00270             finished = <span class="keyword">true</span>;
<a name="l00271"></a>00271           <span class="keywordflow">else</span> <span class="comment">// skipping all starting END bytes</span>
<a name="l00272"></a>00272             started = <span class="keyword">true</span>;
<a name="l00273"></a>00273           <span class="keywordflow">break</span>;
<a name="l00274"></a>00274         <span class="keywordflow">case</span> ESC: <span class="comment">// if it's an ESC character, we just want to skip it and stick the next byte in the packet</span>
<a name="l00275"></a>00275           pbp++;  <span class="comment">// no break here</span>
<a name="l00276"></a>00276         <span class="keywordflow">default</span>:
<a name="l00277"></a>00277           <span class="keywordflow">if</span>( started )
<a name="l00278"></a>00278           {
<a name="l00279"></a>00279             *bp++ = *pbp;
<a name="l00280"></a>00280             count++;
<a name="l00281"></a>00281           }
<a name="l00282"></a>00282           <span class="keywordflow">break</span>;
<a name="l00283"></a>00283       }
<a name="l00284"></a>00284       pbp++;
<a name="l00285"></a>00285       bufRemaining--;
<a name="l00286"></a>00286       <span class="keywordflow">if</span>( finished )
<a name="l00287"></a>00287         <span class="keywordflow">return</span> count;
<a name="l00288"></a>00288     }
<a name="l00289"></a>00289     <a class="code" href="group___tasks.html#g9a64a7c0e24f257826103d1d1bbb44fa" title="Put a task to sleep for a given number of milliseconds.">Sleep</a>(1);
<a name="l00290"></a>00290   }
<a name="l00291"></a>00291   <span class="keywordflow">return</span> <a class="code" href="group___error.html#g63cf0068b15b50e26b6f52c0914f968c" title="Data passed in the wrong format.">CONTROLLER_ERROR_BAD_FORMAT</a>; <span class="comment">// should never get here</span>
<a name="l00292"></a>00292 }
<a name="l00293"></a>00293 <span class="comment"></span>
<a name="l00294"></a>00294 <span class="comment">/** @}</span>
<a name="l00295"></a>00295 <span class="comment">*/</span>
<a name="l00296"></a>00296 
<a name="l00297"></a>00297 <span class="comment">// the outgoing USB hardware can write a block of 64 (EP_FIFO) bytes.</span>
<a name="l00298"></a>00298 <span class="comment">// test the buffer's size and send it if we're full.</span>
<a name="l00299"></a>00299 <span class="keywordtype">int</span> TestAndSend(xBULKBUFFER *pq, <span class="keywordtype">char</span> newByte)
<a name="l00300"></a>00300 {
<a name="l00301"></a>00301   pq-&gt;Data[pq-&gt;Count++] = newByte;
<a name="l00302"></a>00302   
<a name="l00303"></a>00303   <span class="keywordflow">if</span>(pq-&gt;Count == EP_FIFO) 
<a name="l00304"></a>00304   { 
<a name="l00305"></a>00305     <span class="keywordflow">while</span>(xQueueSend( xTxCDC, pq, 0) != pdPASS)
<a name="l00306"></a>00306       <a class="code" href="group___tasks.html#g9a64a7c0e24f257826103d1d1bbb44fa" title="Put a task to sleep for a given number of milliseconds.">Sleep</a>( usbSHORTEST_DELAY );
<a name="l00307"></a>00307     pq-&gt;Count = 0; 
<a name="l00308"></a>00308   }
<a name="l00309"></a>00309 
<a name="l00310"></a>00310   <span class="keywordflow">return</span> pq-&gt;Count;
<a name="l00311"></a>00311 }
<a name="l00312"></a>00312 
<a name="l00313"></a>00313 <span class="preprocessor">#ifdef OSC</span>
<a name="l00314"></a>00314 <span class="preprocessor"></span>
<a name="l00315"></a>00315 <span class="preprocessor">#include "osc.h"</span>
<a name="l00316"></a>00316 <span class="preprocessor">#include "string.h"</span>
<a name="l00317"></a>00317 <span class="preprocessor">#include "stdio.h"</span>
<a name="l00318"></a>00318 
<a name="l00319"></a>00319 <span class="comment">// Need a list of property names</span>
<a name="l00320"></a>00320 <span class="comment">// MUST end in zero</span>
<a name="l00321"></a>00321 <span class="keyword">static</span> <span class="keywordtype">char</span>* UsbOsc_Name = <span class="stringliteral">"usb"</span>;
<a name="l00322"></a>00322 <span class="keyword">static</span> <span class="keywordtype">char</span>* UsbOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l00323"></a>00323 
<a name="l00324"></a>00324 <span class="keywordtype">int</span> UsbOsc_PropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value );
<a name="l00325"></a>00325 <span class="keywordtype">int</span> UsbOsc_PropertyGet( <span class="keywordtype">int</span> property );
<a name="l00326"></a>00326 
<a name="l00327"></a>00327 <span class="comment">// Returns the name of the subsystem</span>
<a name="l00328"></a>00328 <span class="keyword">const</span> <span class="keywordtype">char</span>* UsbOsc_GetName( )
<a name="l00329"></a>00329 {
<a name="l00330"></a>00330   <span class="keywordflow">return</span> UsbOsc_Name;
<a name="l00331"></a>00331 }
<a name="l00332"></a>00332 
<a name="l00333"></a>00333 <span class="comment">// Now getting a message.  This is actually a part message, with the first</span>
<a name="l00334"></a>00334 <span class="comment">// part (the subsystem) already parsed off.</span>
<a name="l00335"></a>00335 <span class="keywordtype">int</span> UsbOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l00336"></a>00336 {
<a name="l00337"></a>00337   <span class="keywordflow">return</span> <a class="code" href="group___o_s_c_a_p_i.html#g9331ca23d8e81ba91c4e728f0470627e" title="Receive an integer for a subsystem with no indexes.">Osc_IntReceiverHelper</a>( channel, message, length, 
<a name="l00338"></a>00338                                 UsbOsc_Name,
<a name="l00339"></a>00339                                 UsbOsc_PropertySet, UsbOsc_PropertyGet, 
<a name="l00340"></a>00340                                 UsbOsc_PropertyNames );
<a name="l00341"></a>00341 }
<a name="l00342"></a>00342 
<a name="l00343"></a>00343 <span class="comment">// Set the index Usb, property with the value</span>
<a name="l00344"></a>00344 <span class="keywordtype">int</span> UsbOsc_PropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value )
<a name="l00345"></a>00345 {
<a name="l00346"></a>00346   <span class="keywordflow">switch</span> ( property )
<a name="l00347"></a>00347   {
<a name="l00348"></a>00348     <span class="keywordflow">case</span> 0: 
<a name="l00349"></a>00349       <a class="code" href="group___u_s_b.html#g76d8f65ff3616d070254b5d1d045034c" title="Sets whether the Usb subsystem is active.">Usb_SetActive</a>( value );
<a name="l00350"></a>00350       <span class="keywordflow">break</span>;      
<a name="l00351"></a>00351   }
<a name="l00352"></a>00352   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00353"></a>00353 }
<a name="l00354"></a>00354 
<a name="l00355"></a>00355 <span class="comment">// Get the index Usb, property</span>
<a name="l00356"></a>00356 <span class="keywordtype">int</span> UsbOsc_PropertyGet( <span class="keywordtype">int</span> property )
<a name="l00357"></a>00357 {
<a name="l00358"></a>00358   <span class="keywordtype">int</span> value = 0;
<a name="l00359"></a>00359   <span class="keywordflow">switch</span> ( property )
<a name="l00360"></a>00360   {
<a name="l00361"></a>00361     <span class="keywordflow">case</span> 0:
<a name="l00362"></a>00362       value = <a class="code" href="group___u_s_b.html#g86fb085b1eace675a46d72e58c98fa09" title="Read the active state of the Usb system.">Usb_GetActive</a>( );
<a name="l00363"></a>00363       <span class="keywordflow">break</span>;
<a name="l00364"></a>00364   }
<a name="l00365"></a>00365   
<a name="l00366"></a>00366   <span class="keywordflow">return</span> value;
<a name="l00367"></a>00367 }
<a name="l00368"></a>00368 
<a name="l00369"></a>00369 <span class="preprocessor">#endif  // OSC</span>
<a name="l00370"></a>00370 <span class="preprocessor"></span>
<a name="l00371"></a>00371 <span class="preprocessor">#endif // MAKE_CTRL_USB</span>
<a name="l00372"></a>00372 <span class="preprocessor"></span>
<a name="l00373"></a>00373 
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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